rotate_recovery.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ROTATE_RECOVERY_H_
00038 #define ROTATE_RECOVERY_H_
00039 #include <nav_core/recovery_behavior.h>
00040 #include <costmap_2d/costmap_2d_ros.h>
00041 #include <tf/transform_listener.h>
00042 #include <ros/ros.h>
00043 #include <base_local_planner/costmap_model.h>
00044 #include <geometry_msgs/Twist.h>
00045 #include <geometry_msgs/Point.h>
00046 #include <angles/angles.h>
00047 
00048 namespace rotate_recovery{
00053   class RotateRecovery : public nav_core::RecoveryBehavior {
00054     public:
00060       RotateRecovery();
00061 
00068       void initialize(std::string name, tf::TransformListener* tf, 
00069           costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap);
00070 
00074       void runBehavior();
00075 
00079       ~RotateRecovery();
00080 
00081     private:
00082       costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_;
00083       costmap_2d::Costmap2D costmap_;
00084       std::string name_;
00085       tf::TransformListener* tf_;
00086       bool initialized_;
00087       double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_;
00088       base_local_planner::CostmapModel* world_model_;
00089   };
00090 };
00091 #endif  


rotate_recovery
Author(s): Eitan Marder-Eppstein
autogenerated on Sat Dec 28 2013 17:14:04